Method and apparatus for detecting traffic light

摘要

Disclosed is a traffic light detection method. According to an embodiment of the present invention, an image conversion step of converting, by the first learning model, an input image photographing a traffic light and its surrounding environment into a low-channel converted image composed of at least a first signal color, a second signal color, and a background color, A candidate region in which the second learning model selects one or more traffic light candidate regions based on a plurality of first color groups having the first signal color and a plurality of second color groups having the second signal color in the low-channel converted image It provides a traffic light detection method including a selection step, and a traffic light state determination step of determining a state of the traffic light based on partial images of the input image corresponding to the traffic light candidate region by a third learning model. According to another embodiment of the present invention, there is provided a traffic light detection apparatus for detecting a traffic light by the above traffic light detection method.